基于Matlab的线性二次高斯控制教学——以旋翼飞行机器人的控制为例  

Teaching Linear Quadratic Gaussian Control Based on Matlab——A Case Study of the Stability Control of a Rotor Flying Robot

作　　者：陈阳[1] 吴春富[1] 马桂芳[1] CHEN Yang WU Chun-fu MA Gui-fang(School of Mechanical and Electrical Engineering, Longyan University, Longyan 364000, Fujian, China)

机构地区：[1]龙岩学院机电工程学院,福建龙岩364000

出　　处：《韶关学院学报》2016年第12期78-83,共6页Journal of Shaoguan University

基　　金：福建省中青年教师教育科研项目(JA15492);龙岩学院2014年教改项目(2014JY38)

摘　　要：以基于线性二次高斯控制的旋翼飞行机器人的速度跟踪稳定控制为例,在Matlab软件中进行编程计算及仿真,将抽象的线性二次高斯控制问题具体化,并就代价函数参数矩阵的选择对系统的控制响应性能的影响进行了分析.整个建模仿真过程能够帮助学生理解和掌握线性二次高斯控制理论.The velocity tracking control of the rotor flying robot based on the Linear quadratic Gaussian（LQG）technique was taken as an example which was programmed and simulated in MATLAB. The abstract linear quadratic Gaussian control problem was specific, and the parameter matrix of the cost function which will influence the system’s control response performance was analyzed. The processing of the modeling and simulation can help students to understand and master the linear quadratic Gaussian control theory.

关 键 词：线性二次高斯 旋翼飞行机器人 计算机辅助教学 

分 类 号：G642.0[文化科学—高等教育学]